Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn

Deliverables

Experimental implementation of novel coordinated hand/arm soft-robotics control laws for upper limb prostheses making use of the synergy formalism and proprioceptive sensing only, novel sensors and data fusion from WP6 and the use of latent spaces from WP1.

Finalized version of the SoftHand Pro

Delivery of the finalized prototype of the re-designed and optimized version of the SoftHand Pro.

The Robotic Extra Finger for compensating hand functions

Prototypes of the robotic extra-finger for compensating grasping function in patients with paretic limbs, with a special focus on MRI compatibility for investigations in WP1.

Distributed EMG sensing of muscular synergies

Delivery of a distributed multireference EMG sensing system and techniques for assessing neuronal control of hand and arm movements at the level of synergies between muscles as well as for individual muscles.

The third-hand: an assistive tool for compensating hand functions in patient with a paretic limb

Delivery of the prototype of the third hand as an extra-thesis for grasp stabilization in patients with a paretic limb.

Distributed interaction sensing of force synergies

Delivery of distributed sensing systems and techniques for interaction forces, adequate to spatially sample the interaction between body, soft support and environment.

Final prototypes of haptic systems sensing

Delivery of the final prototypes of wearable sensing systems and techniques and models to record haptic interaction between the user and the devices and/or the device and the environment.

Initial control paradigms implemented on HandArm perturbator

Delivery of energy-based control strategies and corresponding control and software architectures, which are ported to and used in the devices developed in the other tasks, with special focus on the Shoulder Elbow Perturbator (SEP), to investigate Human Robot Interaction (HRI).

Distributed kinematic sensing of postural synergies

Delivery of distributed inertial movement sensing systems and techniques for shoulder, upper, lower arm, hand and fingers, at the level of multisegmental body movements as well as of deformations of individual segments.

Unilateral, body-mounted, robotic arm

Delivery of wearable device(s) for the arm that provide(s) improved ergonomics and comfort and combine the benefits of robotic aid automated rehabilitation with the natural execution of physiotherapy regimes as performed by the medical personnel. The device(s) will integrate the sensing developments from artificial to natural and vice versa in WP2 and WP3 and will incorporate state feedback sensing and estimation as well as biofeedback modalities.

Synergy control of exosekletons

Experimental implementation of novel coordinated hand/arm soft-robotics control laws for upper limb exoskeletons and assistive devices making use of the synergy formalism and proprioceptive sensing only, novel sensors and data fusion from WP6, the use of latent spaces from WP1.

Hands with multiple synergies

Delivery of prototype(s) of artificial hands with multiple synergies, through the introduction of multiple actuation units (active synergies).

Final Prototyped of Haptic Feedback Systems

Delivery of the final prototypes of haptic displays to convey the information sensed in Task 3.1 through haptic stimuli (with special focus on cutaneous stimulus delivery), in an intuitive and effective manner while still guaranteeing a good integration with the overall system.

Report on pathological synergies

Technical report (possibly scientific publications/submitted papers) on the characterization of motor trough optical tracking, EMG, fMRI/EEG and machine learning techniques, with special focus on the translational development to BCI.

Open Source and IP Management Plan

Report on the open source policies employed to manage the technology and knowledge developed in SoftPro.

Report on Upper limb synergies

Technical report (possibly scientific publications ready for submission) on behavioral, functional and neural characterization of the underlying mechanisms of synergy-based motor control from the hand to the whole upper limb.

Report on selected metrics for each assessment

Technical report on the selected assessment metrics for the evaluation of upper limb sensorimotor grasping and manipulation function as well as of the efficacy and acceptability of the technology developed within the SoftPro project.

Report on validation of selected metrics for each assesment

Technical report (possibly with scientifi publications/submitted papers) on the experimental validation of the selected assessment metrics for the evaluation of upper limb sensorimotor grasping and manipulation function as well as of the efficacy and acceptability of the technology developed within the SoftPro project.

Set up of Communication Infrastructure

Establishment of lines of communication between coordinator and partners as well as document sharing platforms for facilitating information exchange.

Data Management Plan

Report delineating the way in which the data generated from the SoftPro project will be handled, shared and communicated.

Publications

A Soft Robotic Extra-Finger and Arm Support to Recover Grasp Capabilities in Chronic Stroke Patients

Author(s): Irfan Hussain, Gionata Salvietti, Giovanni Spagnoletti, David Cioncoloni, Simone Rossi, Domenico Prattichizzo
Published in: In Wearable Robotics: Challenges and Trends, Proceedings of the 2nd International Symposium on Wearable Robotics, Issue Vol. 16, of the book series Byosystems & Biorobotics (BIOSYROB), 2017, Page(s) 57-61, ISSN 2195-3562
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-46532-6_10

Soft wearable assistive robotics: exosuits and supernumerary limbs

Author(s): L. Masia, I. Hussain, M. Xiloyannis, C. Pacchierotti, L. Cappello, M. Malvezzi, G. Spagnoletti, C. Wilson Antuvan, D. Binh Khanh, M. Pozzi, D. Prattichizzo
Published in: Wearable Exoskeleton Systems: Design, control and applications, 2018, Page(s) 219-254, ISBN 9781-785613029
Publisher: Institution of Engineering and Technology
DOI: 10.1049/pbce108e_ch10

Preliminary Results Toward Continuous and Proportional Control of a Multi-synergistic Soft Prosthetic Hand

Author(s): Cristina Piazza, Manuel G. Catalano, Antonio Bicchi, Levi J. Hargrove
Published in: Converging Clinical and Engineering Research on Neurorehabilitation III - Proceedings of the 4th International Conference on NeuroRehabilitation (ICNR2018), October 16-20, 2018, Pisa, Italy, Issue 21, 2019, Page(s) 77-81, ISBN 978-3-030-01844-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-01845-0_15

A Wearable Haptic Ring for the Control of Extra Robotic Fingers

Author(s): Irfan Hussain, Giovanni Spagnoletti, Claudio Pacchierotti, Domenico Prattichizzo
Published in: Haptic Interaction, Issue 432, 2018, Page(s) 323-325, ISBN 978-981-10-4156-3
Publisher: Springer Singapore
DOI: 10.1007/978-981-10-4157-0_55

On the Role of Postural Synergies for Grasp Force Generation and Upper Limb Motion Control

Author(s): Giuseppe Averta, Franco Angelini, Antonio Bicchi, Gaetano Valenza, Matteo Bianchi
Published in: Converging Clinical and Engineering Research on Neurorehabilitation III - Proceedings of the 4th International Conference on NeuroRehabilitation (ICNR2018), October 16-20, 2018, Pisa, Italy, Issue 21, 2019, Page(s) 344-348, ISBN 978-3-030-01844-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-01845-0_69

Synergy-Driven Performance Enhancement of Vision-Based 3D Hand Pose Reconstruction

Author(s): Simone Ciotti, Edoardo Battaglia, Iason Oikonomidis, Alexandros Makris, Aggeliki Tsoli, Antonio Bicchi, Antonis A. Argyros, Matteo Bianchi
Published in: Wireless Mobile Communication and Healthcare, Issue 192, 2017, Page(s) 328-336, ISBN 978-3-319-58876-6
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-58877-3_42

A Synergistic Behavior Underpins Human Hand Grasping Force Control During Environmental Constraint Exploitation

Author(s): Giuseppe Averta, Edoardo Battaglia, Cosimo Della Santina, Manuel G. Catalano, Matteo Bianchi
Published in: Converging Clinical and Engineering Research on Neurorehabilitation III - Proceedings of the 4th International Conference on NeuroRehabilitation (ICNR2018), October 16-20, 2018, Pisa, Italy, Issue 21, 2019, Page(s) 67-71, ISBN 978-3-030-01844-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-01845-0_13

A novel 3RRS wearable fingertip cutaneous device for virtual interaction

Author(s): Francesco Chinello, Claudio Pacchierotti, Monica Malvezzi, Domenico Prattichizzo
Published in: Haptic Interaction, 2017, Page(s) 63-65
Publisher: Springer Singapore
DOI: 10.1007/978-981-10-4157-0_10

A wearable haptic ring for the control of extra robotic fingers

Author(s): Irfan Hussain, Giovanni Spagnoletti, Claudio Pacchierotti, Domenico Prattichizzo
Published in: Haptic Interaction, 2017, Page(s) 323-325
Publisher: Springer Singapore
DOI: 10.1007/978-981-10-4157-0_55

The SoftHand Pro: Translation from Robotic Hand to Prosthetic Prototype

Author(s): Sasha B. Godfrey, Matteo Bianchi, Kristin Zhao, Manuel Catalano, Ryan Breighner, Amanda Theuer, Karen Andrews, Giorgio Grioli, Marco Santello, Antonio Bicchi
Published in: Biosystems & Biorobotics, Issue Converging Clinical and Engineering Research on Neurorehabilitation II, 2016, Page(s) 469-473
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-46669-9_78

Tactile Augmented Reality for Arteries Palpation in Open Surgery Training

Author(s): Sara Condino, Rosanna Maria Viglialoro, Simone Fani, Matteo Bianchi, Luca Morelli, Mauro Ferrari, Antonio Bicchi, Vincenzo Ferrari
Published in: Lecture Notes in Computer Science, Issue Medical Imaging and Augmented Reality, 2016, Page(s) 186-197
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-43775-0_17

Unvealing the Principal Modes of Human Upper Limb Movements through Functional Analysis

Author(s): Giuseppe Averta, Cosimo Della Santina, Edoardo Battaglia, Federica Felici, Matteo Bianchi, Antonio Bicchi
Published in: Frontiers in Robotics and AI, Issue 4, 2017, ISSN 2296-9144
Publisher: Frontiers Research Foundation
DOI: 10.3389/frobt.2017.00037

SoftHand at the CYBATHLON: a user’s experience

Author(s): Sasha Blue Godfrey, Matteo Rossi, Cristina Piazza, Manuel Giuseppe Catalano, Matteo Bianchi, Giorgio Grioli, Kristin D. Zhao, Antonio Bicchi
Published in: Journal of NeuroEngineering and Rehabilitation, Issue 14/1, 2017, ISSN 1743-0003
Publisher: BioMed Central
DOI: 10.1186/s12984-017-0334-y

Robot Collisions: A Survey on Detection, Isolation, and Identification

Author(s): Sami Haddadin, Alessandro De Luca, Alin Albu-Schaffer
Published in: IEEE Transactions on Robotics, Issue 33/6, 2017, Page(s) 1292-1312, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2017.2723903

Exploiting Elastic Energy Storage for “Blind” Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling

Author(s): Sami Haddadin, Kai Krieger, Alin Albu-Schaffer, Torsten Lilge
Published in: IEEE Transactions on Robotics, Issue 34/1, 2018, Page(s) 91-112, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2017.2765684

Antagonistic Impedance Control for Pneumatically Actuated Robot Joints

Author(s): Alexander Toedtheide, Torsten Lilge, Sami Haddadin
Published in: IEEE Robotics and Automation Letters, Issue 1/1, 2016, Page(s) 161-168, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/LRA.2015.2511663

Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties

Author(s): Nico Mansfeld, Mazin Hamad, Marvin Becker, Antonio Gonzales Marin, Sami Haddadin
Published in: IEEE Robotics and Automation Letters, Issue 3/3, 2018, Page(s) 1880-1887, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/LRA.2018.2801477

Sub-millimetre accurate human hand kinematics: from surface to skeleton

Author(s): Jumana Ma’touq, Tingli Hu, Sami Haddadin
Published in: Computer Methods in Biomechanics and Biomedical Engineering, Issue 21/2, 2018, Page(s) 113-128, ISSN 1025-5842
Publisher: Taylor & Francis
DOI: 10.1080/10255842.2018.1425996

Simplifying Telerobotics: Wearability and Teleimpedance Improves Human-Robot Interactions in Teleoperation

Author(s): Simone Fani, Simone Ciotti, Manuel G. Catalano, Giorgio Grioli, Alessandro Tognetti, Gaetano Valenza, Arash Ajoudani, Matteo Bianchi
Published in: IEEE Robotics & Automation Magazine, Issue 25/1, 2018, Page(s) 77-88, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2017.2741579

A Spherical Active Joint for Humanoids and Humans

Author(s): Sariah Mghames, Manuel Giuseppe Catalano, Antonio Bicchi, Giorgio Grioli
Published in: IEEE Robotics and Automation Letters, Issue 4/2, 2019, Page(s) 838-845, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2019.2893423

Combining Wearable Finger Haptics and Augmented Reality: User Evaluation Using an External Camera and the Microsoft HoloLens

Author(s): Leonardo Meli, Claudio Pacchierotti, Gionata Salvietti, Francesco Chinello, Maurizio Maisto, Alessandro De Luca, Domenico Prattichizzo
Published in: IEEE Robotics and Automation Letters, Issue 3/4, 2018, Page(s) 4297-4304, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2864354

A Novel Skin-Stretch Haptic Device for Intuitive Control of Robotic Prostheses and Avatars

Author(s): Nicoletta Colella, Matteo Bianchi, Giorgio Grioli, Antonio Bicchi, Manuel G. Catalano
Published in: IEEE Robotics and Automation Letters, Issue 4/2, 2019, Page(s) 1572-1579, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2019.2896484

Learning From Humans How to Grasp: A Data-Driven Architecture for Autonomous Grasping With Anthropomorphic Soft Hands

Author(s): Cosimo Della Santina, Visar Arapi, Giuseppe Averta, Francesca Damiani, Gaia Fiore, Alessandro Settimi, Manuel G. Catalano, Davide Bacciu, Antonio Bicchi, Matteo Bianchi
Published in: IEEE Robotics and Automation Letters, Issue 4/2, 2019, Page(s) 1533-1540, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/LRA.2019.2896485

Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2

Author(s): Cosimo Della Santina, Cristina Piazza, Giorgio Grioli, Manuel G. Catalano, Antonio Bicchi
Published in: IEEE Transactions on Robotics, Issue 34/5, 2018, Page(s) 1141-1156, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2018.2830407

Optimization-Based Wearable Tactile Rendering

Author(s): Alvaro G. Perez, Daniel Lobo, Francesco Chinello, Gabriel Cirio, Monica Malvezzi, Jose San Martin, Domenico Prattichizzo, Miguel A. Otaduy
Published in: IEEE Transactions on Haptics, Issue 10/2, 2017, Page(s) 254-264, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TOH.2016.2619708

Editorial: Mapping Human Sensory-Motor Skills for Manipulation Onto the Design and Control of Robots

Author(s): Matteo Bianchi, Gionata Salvietti
Published in: Frontiers in Neurorobotics, Issue 13, 2019, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2019.00001

Relaying the High-Frequency Contents of Tactile Feedback to Robotic Prosthesis Users: Design, Filtering, Implementation, and Validation

Author(s): Simone Fani, Katia Di Blasio, Matteo Bianchi, Manuel Giuseppe Catalano, Giorgio Grioli, Antonio Bicchi
Published in: IEEE Robotics and Automation Letters, Issue 4/2, 2019, Page(s) 926-933, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2019.2894380

A Bio-inspired Grasp Stiffness Control for Robotic Hands

Author(s): Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Arash Ajoudani
Published in: Frontiers in Robotics and AI, Issue 5, 2018, ISSN 2296-9144
Publisher: Frontiers Research Foundation
DOI: 10.3389/frobt.2018.00089

Grasp Stiffness Control in Robotic Hands Through Coordinated Optimization of Pose and Joint Stiffness

Author(s): Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Nikos Tsagarakis, Arash Ajoudani
Published in: IEEE Robotics and Automation Letters, Issue 3/4, 2018, Page(s) 3952-3959, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2858271

HapPro: A Wearable Haptic Device for Proprioceptive Feedback

Author(s): Matteo Rossi, Matteo Bianchi, Edoardo Battaglia, Manuel G. Catalano, Antonio Bicchi
Published in: IEEE Transactions on Biomedical Engineering, Issue 66/1, 2019, Page(s) 138-149, ISSN 0018-9294
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tbme.2018.2836672

Operator Awareness in Human–Robot Collaboration Through Wearable Vibrotactile Feedback

Author(s): Andrea Casalino, Costanza Messeri, Maria Pozzi, Andrea Maria Zanchettin, Paolo Rocco, Domenico Prattichizzo
Published in: IEEE Robotics and Automation Letters, Issue 3/4, 2018, Page(s) 4289-4296, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2865034

Replicating Human Hand Synergies Onto Robotic Hands: A Review on Software and Hardware Strategies

Author(s): Gionata Salvietti
Published in: Frontiers in Neurorobotics, Issue 12, 2018, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2018.00027

The hBracelet: A Wearable Haptic Device for the Distributed Mechanotactile Stimulation of the Upper Limb

Author(s): Leonardo Meli, Irfan Hussain, Mirko Aurilio, Monica Malvezzi, Marcia K. O'Malley, Domenico Prattichizzo
Published in: IEEE Robotics and Automation Letters, Issue 3/3, 2018, Page(s) 2198-2205, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2810958

Can wearable haptic devices foster the embodiment of virtual limbs?

Author(s): Jakob Frohner, Gionata Salvietti, Philipp Beckerle, Domenico Prattichizzo
Published in: IEEE Transactions on Haptics, 2019, Page(s) 1-1, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/toh.2018.2889497

On the Time-Invariance Properties of Upper Limb Synergies

Author(s): Giuseppe Averta, Gaetano Valenza, Vincenzo Catrambone, Federica Barontini, Enzo Pasquale Scilingo, Antonio Bicchi, Matteo Bianchi
Published in: IEEE Transactions on Neural Systems and Rehabilitation Engineering, Issue 27/7, 2019, Page(s) 1397-1406, ISSN 1534-4320
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TNSRE.2019.2918311

Assessment of muscle fatigue during isometric contraction using autonomic nervous system correlates

Author(s): Alberto Greco, Gaetano Valenza, Antonio Bicchi, Matteo Bianchi, Enzo Pasquale Scilingo
Published in: Biomedical Signal Processing and Control, Issue 51, 2019, Page(s) 42-49, ISSN 1746-8094
Publisher: Elsevier BV
DOI: 10.1016/j.bspc.2019.02.007

Mechatronic designs for a robotic hand to explore human body experience and sensory-motor skills: a Delphi study

Author(s): Philipp Beckerle, Matteo Bianchi, Claudio Castellini, Gionata Salvietti
Published in: Advanced Robotics, Issue 32/12, 2018, Page(s) 670-680, ISSN 0169-1864
Publisher: Taylor & Francis
DOI: 10.1080/01691864.2018.1489737

The SoftHand Pro-H: A Hybrid Body-Controlled, Electrically Powered Hand Prosthesis for Daily Living and Working

Author(s): C. Piazza, M.G. Catalano, S.B. Godfrey, M. Rossi, G. Grioli, M. Bianchi, K. Zhao, A. Bicchi
Published in: IEEE Robotics & Automation Magazine, Issue 24/4, 2017, Page(s) 87-101, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2017.2751662

Human–Robot Team Interaction Through Wearable Haptics for Cooperative Manipulation

Author(s): Selma Music, Gionata Salvietti, Pablo Budde gen. Dohmann, Francesco Chinello, Domenico Prattichizzo, Sandra Hirche
Published in: IEEE Transactions on Haptics, Issue 12/3, 2019, Page(s) 350-362, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TOH.2019.2921565

Predicting Object-Mediated Gestures From Brain Activity: An EEG Study on Gender Differences

Author(s): Vincenzo Catrambone, Alberto Greco, Giuseppe Averta, Matteo Bianchi, Gaetano Valenza, Enzo Pasquale Scilingo
Published in: IEEE Transactions on Neural Systems and Rehabilitation Engineering, Issue 27/3, 2019, Page(s) 411-418, ISSN 1534-4320
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TNSRE.2019.2898469

W-FYD: A Wearable Fabric-Based Display for Haptic Multi-Cue Delivery and Tactile Augmented Reality

Author(s): Simone Fani, Simone Ciotti, Edoardo Battaglia, Alessandro Moscatelli, Matteo Bianchi
Published in: IEEE Transactions on Haptics, Issue 11/2, 2018, Page(s) 304-316, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TOH.2017.2708717

Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning

Author(s): Giuseppe Averta, Franco Angelini, Manuel Bonilla, Matteo Bianchi, Antonio Bicchi
Published in: IEEE Robotics and Automation Letters, Issue 3/3, 2018, Page(s) 2686-2693, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2829027

Spatially Separating Haptic Guidance From Task Dynamics Through Wearable Devices

Author(s): Evan Pezent, Simone Fani, Janelle Clark, Matteo Bianchi, Marcia K. O'Malley
Published in: IEEE Transactions on Haptics, Issue 12/4, 2019, Page(s) 581-593, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TOH.2019.2919281

Skin Stretch Haptic Feedback to Convey Closure Information in Anthropomorphic, Under-Actuated Upper Limb Soft Prostheses

Author(s): Edoardo Battaglia, Janelle P. Clark, Matteo Bianchi, Manuel G. Catalano, Antonio Bicchi, Marcia K. O'Malley
Published in: IEEE Transactions on Haptics, Issue 12/4, 2019, Page(s) 508-520, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TOH.2019.2915075

Embedded sensing: integrating sensors in 3-D printed structures

Author(s): Alexander Dijkshoorn, Patrick Werkman, Marcel Welleweerd, Gerjan Wolterink, Bram Eijking, John Delamare, Remco Sanders, Gijs J. M. Krijnen
Published in: Journal of Sensors and Sensor Systems, Issue 7/1, 2018, Page(s) 169-181, ISSN 2194-878X
Publisher: Journal of Sensors and Sensors Systems
DOI: 10.5194/jsss-7-169-2018

Gravity Balancing Flexure Springs for an Assistive Elbow Orthosis

Author(s): Martin Tschiersky, Edsko E. G. Hekman, Dannis M. Brouwer, Just L. Herder
Published in: IEEE Transactions on Medical Robotics and Bionics, Issue 1/3, 2019, Page(s) 177-188, ISSN 2576-3202
Publisher: IEEE
DOI: 10.1109/tmrb.2019.2930341

Presenting Surface Features Using a Haptic Ring: A Psychophysical Study on Relocating Vibrotactile Feedback

Author(s): Chiara Gaudeni, Leonardo Meli, Lynette A. Jones, Domenico Prattichizzo
Published in: IEEE Transactions on Haptics, Issue 12/4, 2019, Page(s) 428-437, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/toh.2019.2938945

A Compact McKibben Muscle Based Bending Actuator for Close-to-Body Application in Assistive Wearable Robots

Author(s): Martin Tschiersky, Edsko E. G. Hekman, Dannis M. Brouwer, Just Herder, Koichi Suzumori
Published in: IEEE Robotics and Automation Letters, 2020, Page(s) 1-1, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2975732

Upper Body Pose Estimation Using Wearable Inertial Sensors and Multiplicative Kalman Filter

Author(s): Tommaso Lisini Baldi, Francesco Farina, Andrea Garulli, Antonio Giannitrapani, Domenico Prattichizzo
Published in: IEEE Sensors Journal, Issue 20/1, 2020, Page(s) 492-500, ISSN 1530-437X
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/jsen.2019.2940612

A General Approach to Achieving Stability and Safe Behavior in Distributed Robotic Architectures

Author(s): Stefan S. Groothuis, Gerrit A. Folkertsma, Stefano Stramigioli
Published in: Frontiers in Robotics and AI, Issue 5, 2018, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2018.00108

Decentralized Trajectory Tracking Control for Soft Robots Interacting With the Environment

Author(s): Franco Angelini, Cosimo Della Santina, Manolo Garabini, Matteo Bianchi, Gian Maria Gasparri, Giorgio Grioli, Manuel Giuseppe Catalano, Antonio Bicchi
Published in: IEEE Transactions on Robotics, Issue 34/4, 2018, Page(s) 924-935, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2018.2830351

DeepDynamicHand: A Deep Neural Architecture for Labeling Hand Manipulation Strategies in Video Sources Exploiting Temporal Information

Author(s): Visar Arapi, Cosimo Della Santina, Davide Bacciu, Matteo Bianchi, Antonio Bicchi
Published in: Frontiers in Neurorobotics, Issue 12, 2018, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2018.00086

Touch as an auxiliary proprioceptive cue for movement control

Author(s): A. Moscatelli, M. Bianchi, S. Ciotti, G. C. Bettelani, C. V. Parise, F. Lacquaniti, A. Bicchi
Published in: Science Advances, Issue 5/6, 2019, Page(s) eaaw3121, ISSN 2375-2548
Publisher: Science Advances
DOI: 10.1126/sciadv.aaw3121

Benchmarking Hand and Grasp Resilience to Dynamic Loads

Author(s): Francesca Negrello, Werner Friedl, Giorgio Grioli, Manolo Garabini, Oliver Brock, Antonio Bicchi, Maximo A. Roa, Manuel G. Catalano
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 1780-1787, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2969180

Design and Validation of the Readable Device: a single-cell Electromagnetic Refreshable Braille Display

Author(s): Gemma Carolina Bettelani, Giuseppe Averta, Manuel Giuseppe Catalano, Barbara Leporini, Matteo Bianchi
Published in: IEEE Transactions on Haptics, 2020, Page(s) 1-1, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/toh.2020.2970929

Hands in the Real World

Author(s): Francesca Negrello, Hannah S. Stuart, Manuel G. Catalano
Published in: Frontiers in Robotics and AI, Issue 6, 2020, ISSN 2296-9144
Publisher: Frontiers in Robotics and AI
DOI: 10.3389/frobt.2019.00147

On the Role of Lateral Force in Texture-Induced Motion Bias During Reaching Tasks

Author(s): Gemma Carolina Bettelani, Alessandro Moscatelli, Matteo Bianchi
Published in: IEEE Transactions on Haptics, 2020, Page(s) 1-1, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/toh.2020.2970927

Development of a Safety- and Energy-Aware Impedance Controller for Collaborative Robots

Author(s): Gennaro Raiola, Carlos Alberto Cardenas, Tadele Shiferaw Tadele, Theo de Vries, Stefano Stramigioli
Published in: IEEE Robotics and Automation Letters, Issue 3/2, 2018, Page(s) 1237-1244, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2795639

Systematic Review on Kinematic Assessments of Upper Limb Movements After Stroke

Author(s): Anne Schwarz, Christoph M. Kanzler, Olivier Lambercy, Andreas R. Luft, Janne M. Veerbeek
Published in: Stroke, Issue 50/3, 2019, Page(s) 718-727, ISSN 0039-2499
Publisher: Lippincott Williams & Wilkins Ltd.
DOI: 10.1161/strokeaha.118.023531

A Fabric-Based Approach for Wearable Haptics

Author(s): Matteo Bianchi
Published in: Electronics, Issue 5/3, 2016, Page(s) 44, ISSN 2079-9292
Publisher: MDPI AG
DOI: 10.3390/electronics5030044

Assessment of Myoelectric Controller Performance and Kinematic Behavior of a Novel Soft Synergy-Inspired Robotic Hand for Prosthetic Applications

Author(s): Simone Fani, Matteo Bianchi, Sonal Jain, José Simões Pimenta Neto, Scott Boege, Giorgio Grioli, Antonio Bicchi, Marco Santello
Published in: Frontiers in Neurorobotics, Issue 10, 2016, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2016.00011

An EMG Interface for the Control of Motion and Compliance of a Supernumerary Robotic Finger

Author(s): Irfan Hussain, Giovanni Spagnoletti, Gionata Salvietti, Domenico Prattichizzo
Published in: Frontiers in Neurorobotics, Issue 10, 2016, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2016.00018

A Synergy-Based Optimally Designed Sensing Glove for Functional Grasp Recognition

Author(s): Simone Ciotti, Edoardo Battaglia, Nicola Carbonaro, Antonio Bicchi, Alessandro Tognetti, Matteo Bianchi
Published in: Sensors, Issue 16/6, 2016, Page(s) 811, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s16060811

The Change in Fingertip Contact Area as a Novel Proprioceptive Cue

Author(s): Alessandro Moscatelli, Matteo Bianchi, Alessandro Serio, Alexander Terekhov, Vincent Hayward, Marc O. Ernst, Antonio Bicchi
Published in: Current Biology, Issue 26/9, 2016, Page(s) 1159-1163, ISSN 0960-9822
Publisher: Cell Press
DOI: 10.1016/j.cub.2016.02.052

Inhomogeneous Point-Processes to Instantaneously Assess Affective Haptic Perception through Heartbeat Dynamics Information

Author(s): G. Valenza, A. Greco, L. Citi, M. Bianchi, R. Barbieri, E. P. Scilingo
Published in: Scientific Reports, Issue 6/1, 2016, ISSN 2045-2322
Publisher: Nature Publishing Group
DOI: 10.1038/srep28567

A soft supernumerary robotic finger and mobile arm support for grasping compensation and hemiparetic upper limb rehabilitation

Author(s): Irfan Hussain, Gionata Salvietti, Giovanni Spagnoletti, Monica Malvezzi, David Cioncoloni, Simone Rossi, Domenico Prattichizzo
Published in: Robotics and Autonomous Systems, Issue 93, 2017, Page(s) 1-12, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2017.03.015

Postural Hand Synergies during Environmental Constraint Exploitation

Author(s): Cosimo Della Santina, Matteo Bianchi, Giuseppe Averta, Simone Ciotti, Visar Arapi, Simone Fani, Edoardo Battaglia, Manuel Giuseppe Catalano, Marco Santello, Antonio Bicchi
Published in: Frontiers in Neurorobotics, Issue 11, 2017, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2017.00041

The Quest for Natural Machine Motion: An Open Platform to Fast-Prototyping Articulated Soft Robots

Author(s): Cosimo Della Santina, Cristina Piazza, Gian Maria Gasparri, Manuel Bonilla, Manuel Giuseppe Catalano, Giorgio Grioli, Manolo Garabini, Antonio Bicchi
Published in: IEEE Robotics & Automation Magazine, Issue 24/1, 2017, Page(s) 48-56, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2016.2636366

Design of the Passive Joints of Underactuated Modular Soft Hands for Fingertip Trajectory Tracking

Author(s): Gionata Salvietti, Irfan Hussain, Monica Malvezzi, Domenico Prattichizzo
Published in: IEEE Robotics and Automation Letters, Issue 2/4, 2017, Page(s) 2008-2015, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2017.2718099

A Human–Robot Interaction Perspective on Assistive and Rehabilitation Robotics

Author(s): Philipp Beckerle, Gionata Salvietti, Ramazan Unal, Domenico Prattichizzo, Simone Rossi, Claudio Castellini, Sandra Hirche, Satoshi Endo, Heni Ben Amor, Matei Ciocarlie, Fulvio Mastrogiovanni, Brenna D. Argall, Matteo Bianchi
Published in: Frontiers in Neurorobotics, Issue 11, 2017, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2017.00024

A Multi-Modal Sensing Glove for Human Manual-Interaction Studies

Author(s): Matteo Bianchi, Robert Haschke, Gereon Büscher, Simone Ciotti, Nicola Carbonaro, Alessandro Tognetti
Published in: Electronics, Issue 5/3, 2016, Page(s) 42, ISSN 2079-9292
Publisher: MDPI
DOI: 10.3390/electronics5030042

Toward wearable supernumerary robotic fingers to compensate missing grasping abilities in hemiparetic upper limb

Author(s): Irfan Hussain, Giovanni Spagnoletti, Gionata Salvietti, Domenico Prattichizzo
Published in: The International Journal of Robotics Research, 2017, Page(s) 027836491771243, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/0278364917712433

The Soft-SixthFinger: a Wearable EMG Controlled Robotic Extra-Finger for Grasp Compensation in Chronic Stroke Patients

Author(s): Irfan Hussain, Gionata Salvietti, Giovanni Spagnoletti, Domenico Prattichizzo
Published in: IEEE Robotics and Automation Letters, Issue 1/2, 2016, Page(s) 1000-1006, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2016.2530793

Compensating Hand Function in Chronic Stroke Patients Through the Robotic Sixth Finger

Author(s): Gionata Salvietti, Irfan Hussain, David Cioncoloni, Sabrina Taddei, Simone Rossi, Domenico Prattichizzo
Published in: IEEE Transactions on Neural Systems and Rehabilitation Engineering, Issue 25/2, 2017, Page(s) 142-150, ISSN 1534-4320
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TNSRE.2016.2529684

On Grasp Quality Measures: Grasp Robustness and Contact Force Distribution in Underactuated and Compliant Robotic Hands

Author(s): Maria Pozzi, Monica Malvezzi, Domenico Prattichizzo
Published in: IEEE Robotics and Automation Letters, Issue 2/1, 2017, Page(s) 329-336, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2016.2612304

An Artificial Robot Nervous System To Teach Robots How To Feel Pain And Reflexively React To Potentially Damaging Contacts

Author(s): Johannes Kuehn, Sami Haddadin
Published in: IEEE Robotics and Automation Letters, Issue 2/1, 2017, Page(s) 72-79, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2016.2536360

A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes

Author(s): Lars Johannsmeier, Sami Haddadin
Published in: IEEE Robotics and Automation Letters, Issue 2/1, 2017, Page(s) 41-48, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2016.2535907

Recent Data Sets on Object Manipulation: A Survey

Author(s): Yongqiang Huang, Matteo Bianchi, Minas Liarokapis, Yu Sun
Published in: Big Data, Issue 4/4, 2016, Page(s) 197-216, ISSN 2167-6461
Publisher: NCBI
DOI: 10.1089/big.2016.0042

A Tool for Global Robot Safety Evaluation and Safe Robot Design

Author(s): Nico Mansfeld, Mazin Hamad, Marvin Becker, Antonio Gonzales Marin, Sami Haddadin
Published in: IEEE International Conference on Robotics and Automation (ICRA), Workshop on Autonomous Robot Design, 2018
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.15488/3572

Learning and Identification of human upper-limb muscle synergies in daily-life tasks with autoencoders

Author(s): Tinigli Hu, Johannes Kühn, Jumana Ma'touq, Sami Haddadin
Published in: OTWorld Congress, 2018
Publisher: Leipziger Messe GmbH
DOI: 10.15488/3679

Dynamics simulation for an upper-limb human-exoskeleton assistance system in a latent-space controlled tool manipulation task

Author(s): Johannes Kuhn, Tingli Hu, Moritz Schappler, Sami Haddadin
Published in: 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2018, Page(s) 158-165, ISBN 978-1-5386-5974-8
Publisher: IEEE
DOI: 10.1109/SIMPAR.2018.8376286

The SoftPro Project: Synergy-Based Open-Source Technologies for Prosthetics and Rehabilitation

Author(s): Cristina Piazza; Manuel G. Catalano; Matteo Bianchi; Emiliano Ricciardi; Domenico Prattichizzo; Sami Haddadin; Andreas R. Luft; Olivier Lambercy; Roger Gassert; Eike Jakubowitz; Herman Van Der Kooij; Frederick Tonis; Fabio Bonomo; Benjamin de Jonge; Tomas Ward; Kristin D. Zhao; Marco Santello; Antonio Bicchi
Published in: Issue 3, 2018
Publisher: IEEE
DOI: 10.5281/zenodo.2560414

EEG Processing to Discriminate Transitive-Intransitive Motor Imagery Tasks: Preliminary Evidences using Support Vector Machines

Author(s): Vincenzo Catrambone, Alberto Greco, Giuseppe Averta, Matteo Bianchi, Nicola Vanello, Antonio Bicchi, Gaetano Valenza, Enzo Pasquale Scilingo
Published in: 2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2018, Page(s) 231-234, ISBN 978-1-5386-3646-6
Publisher: IEEE
DOI: 10.1109/EMBC.2018.8512239

A Supernumerary Soft Robotic Hand-Arm System for Improving Worker Ergonomics

Author(s): Andrea S. Ciullo; Manuel G. Catalano; Antonio Bicchi; Arash Ajoudani
Published in: Issue 5, 2018
Publisher: IEEE
DOI: 10.5281/zenodo.2562075

Comparison of Three Hand Pose Reconstruction Algorithms Using Inertial and Magnetic Measurement Units

Author(s): P.J. Kieliba; P.H. Veltink; T. Lisini Baldi; D. Prattichizzo,; G. Santaera; A. Bicchi; M. Bianchi; van Beijnum
Published in: Issue 13, 2018
Publisher: IEEE
DOI: 10.5281/zenodo.2575384

Thin, Flexible, Capacitive Force Sensors Based on Anisotropy in 3D-Printed Structures

Author(s): Gerjan Wolterink, Remco Sanders, Gijs Krijnen
Published in: 2018 IEEE SENSORS, 2018, Page(s) 1-4, ISBN 978-1-5386-4707-3
Publisher: IEEE
DOI: 10.1109/icsens.2018.8589584

3D-printing soft sEMG sensing structures

Author(s): Gerjan Wolterink, Remco Sanders, Frodo Muijzer, Bert-Jan van Beijnum, Gijs Krijnen
Published in: 2017 IEEE SENSORS, 2017, Page(s) 1-3, ISBN 978-1-5090-1012-7
Publisher: IEEE
DOI: 10.1109/icsens.2017.8233935

Rendering of Pressure and Textures Using Wearable Haptics in Immersive VR Environments

Author(s): Giovanni Spagnoletti, Leonardo Meli, Tommaso Lisini Baldi, Guido Gioioso, Claudio Pacchierotti, Domenico Prattichizzo
Published in: 2018 IEEE Conference on Virtual Reality and 3D User Interfaces (VR), 2018, Page(s) 691-692, ISBN 978-1-5386-3365-6
Publisher: IEEE
DOI: 10.1109/VR.2018.8446128

Design of an under-actuated wrist based on adaptive synergies

Author(s): Simona Casini, Vinicio Tincani, Giuseppe Averta, Mattia Poggiani, Cosimo Della Santina, Edoardo Battaglia, Manuel G. Catalano, Matteo Bianchi, Giorgio Grioli, Antonio Bicchi
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 6679-6686, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/icra.2017.7989789

Estimating contact forces from postural measures in a class of under-actuated robotic hands

Author(s): Cosimo Della Santina, Cristina Piazza, Gaspare Santaera, Giorgio Grioli, Manuel Catalano, Antonio Bicchi
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 2456-2463, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/iros.2017.8206062

Hand in air tapping: A wearable input technology to type wireless

Author(s): Leonardo Meli, Davide Barcelli, Tommaso Lisini Baldi, Domenico Prattichizzo
Published in: 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2017, Page(s) 936-941, ISBN 978-1-5386-3518-6
Publisher: IEEE
DOI: 10.1109/roman.2017.8172415

Muscle fatigue assessment through electrodermal activity analysis during isometric contraction

Author(s): Alberto Greco, Andrea Guidi, Federica Felici, Andrea Leo, Emiliano Ricciardi, Matteo Bianchi, Antonio Bicchi, Luca Citi, Gaetano Valenza, Enzo Pasquale Scilingo
Published in: 2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2017, Page(s) 398-401, ISBN 978-1-5090-2809-2
Publisher: IEEE
DOI: 10.1109/embc.2017.8036846

Heart rate variability analysis during muscle fatigue due to prolonged isometric contraction

Author(s): Andrea Guidi, Alberto Greco, Federica Felici, Andrea Leo, Emiliano Ricciardi, Matteo Bianchi, Antonio Bicchi, Gaetano Valenza, Enzo Pasquale Scilingo
Published in: 2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2017, Page(s) 1324-1327, ISBN 978-1-5090-2809-2
Publisher: IEEE
DOI: 10.1109/embc.2017.8037076

ExoSense: Measuring Manipulation in a Wearable Manner

Author(s): Edoardo Battaglia, Manuel G. Catalano, Giorgio Grioli, Matteo Bianchi, Antonio Bicchi
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 2774-2781, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/icra.2018.8460498

EEG Complexity Maps to Characterise Brain Dynamics during Upper Limb Motor Imagery

Author(s): Vincenzo Catrambone, Alberto Greco, Giuseppe Averta, Matteo Bianchi, Antonio Bicchi, Enzo Pasquale Scilingo, Gaetano Valenza
Published in: 2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2018, Page(s) 3060-3063, ISBN 978-1-5386-3646-6
Publisher: IEEE
DOI: 10.1109/embc.2018.8512912

From humans to robots: The role of cutaneous impairment in human environmental constraint exploitation to inform the design of robotic hands

Author(s): Giuseppe Averta, Cosimo Della Santina, Edoardo Battaglia, Simone Ciotti, Visar Arapi, Simone Fani, Matteo Bianchi
Published in: 2017 9th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2017, Page(s) 179-184, ISBN 978-1-5386-3435-6
Publisher: IEEE
DOI: 10.1109/icumt.2017.8255117

Joint Stiffness Compensation for Application in the EXTEND Hand Orthosis

Author(s): Claudia J.W. Haarman, Edsko E.G. Hekman, Gerdienke B. Prange, Herman van der Kooij
Published in: 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), 2018, Page(s) 677-682, ISBN 978-1-5386-8183-1
Publisher: IEEE
DOI: 10.1109/biorob.2018.8487208

Separating haptic guidance from task dynamics: A practical solution via cutaneous devices

Author(s): Evan Pezent, Simone Fani, Joshua Bradley, Matteo Bianchi, Marcia K. O'Malley
Published in: 2018 IEEE Haptics Symposium (HAPTICS), 2018, Page(s) 20-25, ISBN 978-1-5386-5424-8
Publisher: IEEE
DOI: 10.1109/haptics.2018.8357147

Touch-Based Grasp Primitives for Soft Hands: Applications to Human-to-Robot Handover Tasks and Beyond

Author(s): Matteo Bianchi, Giuseppe Averta, Edoardo Battaglia, Carlos Rosales, Manuel Bonilla, Alessandro Tondo, Mattia Poggiani, Gaspare Santaera, Simone Ciotti, Manuel G. Catalano, Antonio Bicchi
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 7794-7801, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/icra.2018.8463212

Towards a Technology-Based Assessment of Sensory-Motor Pathological States Through Tactile Illusions

Author(s): Gemma Carolina Bettelani, Alessandro Moscatelli, Matteo Bianchi
Published in: 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), 2018, Page(s) 225-229, ISBN 978-1-5386-8183-1
Publisher: IEEE
DOI: 10.1109/biorob.2018.8487623

On the role of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation

Author(s): Janelle P. Clark, Gianluca Lentini, Federica Barontini, Manuel G. Catalano, Matteo Bianchi, Marcia K. O'Malley
Published in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 5187-5193, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/ICRA.2019.8793652

3D printed flexible capacitive force sensor with a simple micro-controller based readout

Author(s): Schouten, Martijn G.; Sanders, Remco; Krijnen, Gijs
Published in: IEEE SENSORS 2017, Issue 3, 2017
Publisher: IEEE

On the pleasantness of a haptic stimulation: How different textures can be recognized through heart rate variability nonlinear analysis

Author(s): Mimma Nardelli, Alberto Greco, Matteo Bianchi, Enzo Pasquale Scilingo, Gaetano Valenza
Published in: 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2016, Page(s) 3560-3563, ISBN 978-1-4577-0220-4
Publisher: IEEE
DOI: 10.1109/EMBC.2016.7591497

Safety And Guaranteed Stability Through Embedded Energy-Aware Actuators

Author(s): Folkertsma, Gerrit Adriaan; Groothuis, Stefan Sebastiaan; Stramigioli, Stefano
Published in: 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Brisbane, Issue 7, 2018
Publisher: IEEE
DOI: 10.5281/zenodo.1412398

A functional analysis-based approach to quantify upper limb impairment level in chronic stroke patients: a pilot study

Author(s): Anne Schwarz, Giuseppe Averta, Janne M. Veerbeek, Andreas R. Luft, Jeremia P.O. Held, Gaetano Valenza, Antonio Bicchi, Matteo Bianchi
Published in: 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2019, Page(s) 4198-4204, ISBN 978-1-5386-1311-5
Publisher: IEEE
DOI: 10.1109/EMBC.2019.8857732

Influence Of Arm Weight Support On A Robotic Assessment Of Upper Limb Function

Author(s): Kanzler, Christoph M.; Gomez, Sofia Martinez; Rinderknecht, Mike Domenik; Gassert, Roger; Lambercy, Olivier
Published in: Proceedings of the 2018 IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), Issue 7, 2018
Publisher: IEEE
DOI: 10.5281/zenodo.1300252

Soft tactile sensing: retrieving force, torque and contact point information from deformable surfaces

Author(s): Simone Ciotti, Teng Sun, Edoardo Battaglia, Antonio Bicchi, Hongbin Liu, Matteo Bianchi
Published in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 4290-4296, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/ICRA.2019.8794087

Contact with Sliding over a Rotating Ridged Surface: the Turntable Illusion

Author(s): Gemma Carolina Bettelani, Alessandro Moscatelli, Matteo Bianchi
Published in: 2019 IEEE World Haptics Conference (WHC), 2019, Page(s) 562-567, ISBN 978-1-5386-9461-9
Publisher: IEEE
DOI: 10.1109/WHC.2019.8816119

A Mathematical Model of the Pneumatic Force Sensor for Robot-assisted Surgery

Author(s): Chiara Gaudeni, Domenico Prattichizzo
Published in: 2019 IEEE World Haptics Conference (WHC), 2019, Page(s) 598-603, ISBN 978-1-5386-9461-9
Publisher: IEEE
DOI: 10.1109/whc.2019.8816087

A Neuromuscular-Model Based Control Strategy to Minimize Muscle Effort in Assistive Exoskeletons

Author(s): Sariah Mghames, Cosimo Della Santina, Manolo Garabini, Antonio Bicchi
Published in: 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR), 2019, Page(s) 963-970, ISBN 978-1-7281-2755-2
Publisher: IEEE
DOI: 10.1109/icorr.2019.8779456

Command Acknowledge through Tactile Feedback Improves the Usability of an EMG-based Interface for the Frontalis Muscle

Author(s): Leonardo Franco, Gionata Salvietti, Domenico Prattichizzo
Published in: 2019 IEEE World Haptics Conference (WHC), 2019, Page(s) 574-579, ISBN 978-1-5386-9461-9
Publisher: IEEE
DOI: 10.1109/whc.2019.8816133

Soft Hands with Embodied Constraints: The Soft ScoopGripper

Author(s): G. Salvietti, Z. Iqbal, M. Malvezzi, T. Eslami, D. Prattichizzo
Published in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 2758-2764, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/icra.2019.8793563

A flexible, three material, 3D-printed, shear force sensor for use on finger tips

Author(s): Gerjan Wolterink, Remco Sanders, Gijs Krijnen
Published in: 2019 IEEE SENSORS, 2019, Page(s) 1-4, ISBN 978-1-7281-1634-1
Publisher: IEEE
DOI: 10.1109/sensors43011.2019.8956757

Linearisation of a 3D printed flexible tactile sensor based on piezoresistive sensing

Author(s): Martijn Schouten, Bernard Prakken, Remco Sanders, Gijs Krijnen
Published in: 2019 IEEE SENSORS, 2019, Page(s) 1-4, ISBN 978-1-7281-1634-1
Publisher: IEEE
DOI: 10.1109/sensors43011.2019.8956652

Design, control and validation of the variable stiffness exoskeleton FLExo

Author(s): Sariah Mghames, Marco Laghi, Cosimo Della Santina, Manolo Garabini, Manuel Catalano, Giorgio Grioli, Antonio Bicchi
Published in: 2017 International Conference on Rehabilitation Robotics (ICORR), 2017, Page(s) 539-546, ISBN 978-1-5386-2296-4
Publisher: IEEE
DOI: 10.1109/icorr.2017.8009304

PZT-Actuated Compliant Locking Device

Author(s): Martin Tschiersky, Giovanni Berselli, Just Laurens Herder, Dannis Michel Brouwer, Stefano Stramigioli
Published in: 33rd ASPE Annual Meeting 2018, Issue 4/11/18 → 9/11/18, 2018, Page(s) 174-179, ISBN 978-1-887706-77-3
Publisher: American Society for Precision Engineering

Sensory-motor augmentation of the robot with shared human perception

Author(s): Ryuya Ishida, Leonardo Meli, Yoshihiro Tanaka, Kouta Minamizawa, Domenico Prattichizzo
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 2596-2603, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/iros.2018.8594496

Benchmarking Resilience of Artificial Hands

Author(s): F. Negrello, M. Garabini, G. Grioli, N. Tsagarakis, A. Bicchi, M. G. Catalano
Published in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 8374-8380, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/icra.2019.8793793

Assessment of movement patterns in stroke patients: a case study with the Virtual Peg Insertion Test

Author(s): Hofmann, Phyllis; Held, Jeremia P.; Gassert, Roger; Lambercy, Olivier
Published in: roc. international convention on rehabilitation engineering and assistive technology iCREATe, 2016, Issue 4, 2017, Page(s) 57-61
Publisher: Singapore Therapeutic, Assistive & Rehabilitive Technologies (START) Cente
DOI: 10.5281/zenodo.846984

Collision detection, isolation and identification for humanoids

Author(s): Jonathan Vorndamme, Moritz Schappler, Sami Haddadin
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 4754-4761, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989552

On the role of stiffness design for fingertip trajectories of underactuated modular soft hands

Author(s): Irfan Hussain, Gionata Salvietti, Monica Malvezzi, Domenico Prattichizzo
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), Issue Published, 2017, Page(s) 3096-3101, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989354

A magnetic compatible supernumerary robotic finger for functional magnetic resonance imaging (fMRI) acquisitions: Device description and preliminary results

Author(s): Irfan Hussain, Emiliano Santarnecchi, Andrea Leo, Emiliano Ricciardi, Simone Rossi, Domenico Prattichizzo
Published in: 2017 International Conference on Rehabilitation Robotics (ICORR), 2017, Page(s) 1177-1182, ISBN 978-1-5386-2296-4
Publisher: IEEE
DOI: 10.1109/ICORR.2017.8009409

Preliminary results toward a naturally controlled multi-synergistic prosthetic hand

Author(s): Matteo Rossi, Cosimo Della Santina, Cristina Piazza, Giorgio Grioli, Manuel Catalano, Antonio Biechi
Published in: 2017 International Conference on Rehabilitation Robotics (ICORR), 2017, Page(s) 1356-1363, ISBN 978-1-5386-2296-4
Publisher: IEEE
DOI: 10.1109/ICORR.2017.8009437

Design of a wearable interface for lightweight robotic arm for people with mobility impairments

Author(s): Tommaso Lisini Baldi, Giovanni Spagnoletti, Mihai Dragusanu, Domenico Prattichizzo
Published in: 2017 International Conference on Rehabilitation Robotics (ICORR), 2017, Page(s) 1567-1573, ISBN 978-1-5386-2296-4
Publisher: IEEE
DOI: 10.1109/ICORR.2017.8009471

Tactile slip and hand displacement: Bending hand motion with tactile illusions

Author(s): Matteo Bianchi, Alessandro Moscatelli, Simone Ciotti, Gemma Carolina Bettelani, Federica Fioretti, Francesco Lacquaniti, Antonio Bicchi
Published in: 2017 IEEE World Haptics Conference (WHC), 2017, Page(s) 96-100, ISBN 978-1-5090-1425-5
Publisher: IEEE
DOI: 10.1109/WHC.2017.7989883

Tank based unified torque/impedance control for a pneumatically actuated antagonistic robot joint

Author(s): Alexander Toedtheide, Erfan Shahriari, Sami Haddadin
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 1255-1262, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989149

Towards a novel generation of haptic and robotic interfaces: Integrating affective physiology in human-robot interaction

Author(s): M. Bianchi, G. Valenza, A. Greco, M. Nardelli, E. Battaglia, A. Bicchi, E.P. Scilingo
Published in: 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2016, Page(s) 125-131, ISBN 978-1-5090-3929-6
Publisher: IEEE
DOI: 10.1109/ROMAN.2016.7745100

A soft robotic supernumerary finger and a wearable cutaneous finger interface to compensate the missing grasping capabilities in chronic stroke patients

Author(s): Irfan Hussain, Leonardo Meli, Claudio Pacchierotti, Domenico Prattichizzo
Published in: 2017 IEEE World Haptics Conference (WHC), 2017, Page(s) 183-188, ISBN 978-1-5090-1425-5
Publisher: IEEE
DOI: 10.1109/WHC.2017.7989898

Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation

Author(s): Jonathan Vorndamme, Moritz Schappler, Alexander Todtheide, Sami Haddadin
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 3360-3367, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/IROS.2016.7759517

Influence of force feedback on grasp force modulation in prosthetic applications: A preliminary study

Author(s): Sasha B. Godfrey, Matteo Bianchi, Antonio Bicchi, Marco Santello
Published in: 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2016, Page(s) 5439-5442, ISBN 978-1-4577-0220-4
Publisher: IEEE
DOI: 10.1109/EMBC.2016.7591957

The Rice Haptic Rocker: Skin stretch haptic feedback with the Pisa/IIT SoftHand

Author(s): Edoardo Battaglia, Janelle P. Clark, Matteo Bianchi, Manuel G. Catalano, Antonio Bicchi, Marcia K. O'Malley
Published in: 2017 IEEE World Haptics Conference (WHC), 2017, Page(s) 7-12, ISBN 978-1-5090-1425-5
Publisher: IEEE
DOI: 10.1109/WHC.2017.7989848

SoftHand Pro-D: Matching dynamic content of natural user commands with hand embodiment for enhanced prosthesis control

Author(s): Cristina Piazza, Cosimo Della Santina, Manuel Catalano, Giorgio Grioli, Manolo Garabini, Antonio Bicchi
Published in: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Page(s) 3516-3523, ISBN 978-1-4673-8026-3
Publisher: IEEE
DOI: 10.1109/ICRA.2016.7487532

A Variable Stiffness Elbow Joint for Upper Limb Prosthesis

Author(s): Simon Lemerle, Giorgio Grioli, Antonio Bicchi, Manuel G. Catalano
Published in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Page(s) 7327-7334, ISBN 978-1-7281-4004-9
Publisher: IEEE
DOI: 10.1109/IROS40897.2019.8970475

Intellectual Property Rights

ARTIFICIAL HAND

Application/Publication number: 17 727954
Date: 2017-05-09

UNDERACTUATED ROBOTIC HAND

Application/Publication number: 16 809523
Date: 2016-10-27